A Dead-reckoning Scheme for Skid-steered Vehicles in Outdoor Environments

Anousaki, G; Kyriakopoulos, K

dc.contributor.author	Anousaki, G	en
dc.contributor.author	Kyriakopoulos, K	en
dc.date.accessioned	2014-03-01T02:49:37Z
dc.date.available	2014-03-01T02:49:37Z
dc.date.issued	2004	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/34645
dc.subject	Dead Reckoning	en
dc.subject	Inertial Navigation System	en
dc.subject	Large Scale	en
dc.subject	Mobile Robot	en
dc.subject	kalman filter	en
dc.subject	Simultaneous Localization and Map Building	en
dc.title	A Dead-reckoning Scheme for Skid-steered Vehicles in Outdoor Environments	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2004.1307211	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2004.1307211	en
heal.publicationDate	2004	en
heal.abstract	A dead-reckoning scheme appropriate for skid-steered mobile robots is introduced to serve in a wider scheme for simultaneous localization and map-building. It is based on internal sensors (inertial data and odometry) only. The information from an experimentally derived kinematic model and an onboard inertial navigation system (INS), after a necessary pre-filtering stage, is fused using a simple and fast modified	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2004.1307211	en